Research Article
A Method of Energy-Optimal Trajectory Planning for Palletizing Robot
Table 2
Energy consumption of the robot along the two trajectories.
| | Test number | Energy-optimal trajectory (kJ) | Seven-degree polynomial trajectory (kJ) |
| | 1 | 14.881 | 17.221 | | 2 | 14.492 | 17.015 | | 3 | 14.885 | 16.793 | | 4 | 14.112 | 17.436 | | 5 | 14.379 | 16.965 | | 6 | 14.289 | 17.247 | | 7 | 14.155 | 16.578 | | 8 | 13.949 | 17.432 | | 9 | 14.907 | 17.045 | | 10 | 14.231 | 16.628 |
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